JP2007268696A - Interactive robot system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide services and contents suitable for a user when a user is near a robot but in a directly-invisible place, when the user is not in front of the robot but is directed to and interested in the robot, and when the user is not directed to the robot, in an interactive robot giving interactive services to a plurality of users wearing an RF tag and an infrared tag. <P>SOLUTION: This interactive robot 1 comprises RF tag signal reading means for reading an RF tag located around it and worn by a user and detecting various IDs, and a plurality of infrared signal transmission and reception means 2a, 2b directed to various directions on an entire periphery of a body such as a trunk of the interactive robot. The ID of the user existing in a certain peripheral area is detected by the RF tag signal reading means to create a member list. The infrared signals including the IDs are transmitted from the transmission and reception means of various infrared signals in a plurality of directions based on the member list, and it is detected which transmission and reception means received the signals, so as to identify the opposing direction. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an interactive robot system that interacts and communicates with users by voice, gestures, skinships, etc., and provides contents and services corresponding to each user.

  In recent years, research on using robots for interaction with humans and sharing with humans has been active. Such robots provide home dialogue and various services, and provide dialogues and services with users in offices and stores. Services include home care, watching, patrol, operation of equipment, transport of goods, cleaning, and various other services such as customer service and guidance in offices.

  By knowing who the user is when the robot interacts with the user, an appropriate service can be provided to the user. There are various techniques for identifying a user by a robot.

  Conventionally, there is a method for identifying a partner by performing image processing on a user's face image. However, this method has a low identification accuracy, and it is sometimes difficult to extract a face portion, which causes a problem in reliability.

  Therefore, the robot is provided with an ultrasonic transmission unit and infrared transmission unit that record the user ID and the like, and an RF tag for RFID (Radio Frequency Identification: automatic recognition by a non-contact IC readable by electromagnetic waves). A method of providing a sound wave receiver, an infrared camera, and an RFID tag reader has been proposed.

  Among them, as a child care robot technology for playing with and taking care of children, there are multiple ultrasonic receivers and radio wave transmitters that receive the ultrasonic waves generated by the tags on the front of the robot. ) Is equipped with a radio wave receiver and an ultrasonic wave transmitter, and when the radio wave transmitter of the robot carries a radio wave carrying the ID (identification information) of the tag to be called, the tag always receives and analyzes the radio wave and uses its own ID. When there is a call, the ultrasonic wave is immediately transmitted from the ultrasonic wave transmitter, and when the robot receives ultrasonic waves from multiple receivers, the 3D position of the tag is calculated from the distance between each receiver and the tag and the relative position of each receiver. Based on this principle, there is a technique for making a call by detecting the position and name of a child (see Non-Patent Document 1).

  In addition, an infrared camera is installed on the robot, an infrared tag that emits infrared rays is attached to the user, it is determined whether the other party's ID can be detected by the infrared camera during communication, and it is confirmed whether the other party is in front of you. If the other party's ID is not detected and you are not facing this direction, the presence or absence of a reaction is confirmed with the ultrasonic distance sensor or laser range finder in front or the RFID tag (RFID) attached to the other party. In response to this, a communication robot is known that controls the behavior of the other party, for example, controls a topic change (see Patent Document 1).

  Further, RFID members and infrared tags are attached to a plurality of members (users) in the organization, and when the members approach a predetermined region, identification information is acquired by the wireless tag reader and the infrared camera, and the predetermined region There is a relationship detection system that records as a history of actions in, and grasps the relationship of members based on the history (see Patent Document 2).

  Patent Document 2 can be regarded as an application invention based on Patent Document 1 as a basic idea. That is, although the technique of Patent Document 1 uses ultrasonic waves (Patent Document 1 also uses an infrared tag), there is a problem that an apparatus for transmitting and receiving ultrasonic waves (sensor) is expensive. Further, in the technique of Patent Document 1, since the infrared camera is only installed in the front direction of the robot, it is not facing the front of the robot in the vicinity of the robot, but is facing from another direction (that is, There is a problem that the state of the surrounding users (or robots) cannot be identified more precisely, such as being unable to recognize a user who is considered to be interested in the robot.

  Further, in the method of Patent Document 1, an infrared tag and an ultrasonic sensor or a wireless tag (RFID) are used for identifying the other party. In this case, the information on the infrared tag is first turned to the front. Since we start by recognizing the user with an infrared camera, the user's detection is local (ie only when the user is in front of the robot). For this reason, a user who is around the robot and is interested in the robot but is not in front of the robot (ie, a user who shows interest from the side or the back of the robot toward the robot). It was not possible to recognize (using the RFID tag, it was possible to know a plurality of users in the vicinity, but it was impossible to determine whether or not the user was interested in the robot). Although it is possible to identify whether or not an RFID tag exists nearby, it is difficult to identify the direction of each user because the resolution is coarse to identify where the target is, its position and direction. There's a problem.

  To deal with these problems, it is cheap and highly reliable, and it is possible to identify the conversation partner (people and robots) and determine the direction, and to provide conversations and services according to the conversation partner. The invention of “method and robot” has been proposed by the present applicant (Japanese Patent Application No. 2005-361433).

  FIG. 10 shows the basic configuration of a robot according to an embodiment of the proposed invention. In the figure, 50 is a dialogue robot, 60 is a user (human), 61 is a user infrared transmission / reception unit, and this figure shows a case where there is a one-to-one dialogue robot user. An infrared transmission / reception unit 51 arranged in a plurality of directions around the dialogue robot 50 is attached to the body (for example, the waist) of the dialogue robot 50. The infrared receiving / transmitting unit 51 includes a pair of infrared transmitters 51a and infrared receivers 51b. The infrared transmitter / receiver unit 51 transmits its own identification signal from the infrared transmitters 51a, and the infrared receiver 51b Infrared light including a caller identification signal from another robot is received.

The user wears an infrared receiving / transmitting unit 51 (or also referred to as an infrared tag) having at least one infrared transmitter 51a for transmitting the identification signal (pendant shape is lowered from the neck in the figure). The interactive robot 50 determines which one of the corresponding users 60 sees by itself depending on which receiver of the infrared transmitters 51a arranged in a plurality of directions has received the identification signal transmitted from the user 60. Knowing whether the user is in the direction and decoding the received identification signal makes it possible to know who the corresponding user 60 is. In addition, the dialogue robot 50 has body direction driving means (not shown in FIG. 10) for driving the face (head) or body direction, and in the direction according to the detected user direction. The face or the whole body can be turned. When the user 60 is identified, the conversation / service content corresponding to the identified partner is selected, and the conversation / service based on language / non-language is performed on the partner.
Junichi Funada, 4 people, “Use of ultrasonic tags in child care robot PaPeRo”, 23rd Annual Conference of the Robotics Society of Japan, 1113, September 2005 JP 2005-238382 A JP 2005-131748 A

  The proposed technique shown in FIG. 10 is highly reliable, inexpensive and simple, and can simultaneously identify the opponent and determine the direction. However, if there are a plurality of users in the field, the identification signal output from the user tag (infrared receiving / transmitting unit 61 for user in FIG. 10) interferes in space, and the communication protocol becomes complicated or communication becomes difficult. There is a problem. In addition, there is a problem that a user who is in the vicinity but cannot directly see from the robot (a position that becomes a shadow of another user or an obstacle) cannot be detected.

  On the other hand, a generally used system using RFID does not have these problems, but it is difficult to detect the position of the user with sufficient resolution. Another problem is that the system that detects the user position by RFID requires infrastructure on the facility side.

  The present invention can be used even when there are a plurality of users and the user is not directly visible but is in the vicinity, when the user is not facing the robot, or when the user is facing the robot but is not in front of the robot. An object of the present invention is to provide an interactive robot system that can recognize the existence of these users and provide services and contents according to the recognized users. That is, a user who can not be identified in the above-mentioned Patent Document 1 and is on the side or back of the robot other than the front of the robot and looking at the direction of the robot (a user who can be regarded as a user interested in the robot). The purpose is to provide an interactive robot system that can identify and provide services and contents suitable for the user.

  FIG. 1 is a diagram showing a principle configuration of the present invention. 1 is an interactive robot, 1a is an RF tag signal reading means for reading an RFID tag signal possessed by a user, 1b is an infrared signal transmitting means, 1c is an infrared signal receiving means, and 1d is a user (human or other robot) And 1d is a body direction drive means, 1f is a dialogue / service content reproduction means, 1g is a command interpretation means, and 1h is a dialogue / service content. The selection means 1i is a dialogue / service content DB (in which content / services and the like suitable for each user (or robot) to be communicated by the dialogue robot are downloaded from a server (not shown) and held in advance. Database).

  The infrared signal transmitting / receiving unit 1b and the infrared signal receiving unit 1c of the interactive robot 1 are combined to form an infrared receiving / transmitting unit, and like the robot shown in the proposed technique (FIG. 10), around the body (for example, the waistline) A plurality of infrared transmission / reception units are mounted at different intervals (changing the infrared transmission / reception angle) in a plurality of directions (all circumferences).

  2 and 3 are worn by each user (also called a member of a human or other robot), 2 is an infrared tag composed of an infrared transmitter 2a and an infrared receiver 2b, 2c is a command button, Reference numeral 3 denotes an RF tag constituted by RFID, which sets and holds the ID (identification information) of the user (member) and wirelessly transmits information including its own ID. The infrared tag 2 and the RF tag 3 are not integrated. In particular, the RF tag 3 may be placed in a user's pocket, for example.

  Further, the infrared tag 2 can be attached to a pendant or the like by hanging it from the user's neck or the like, and a button (for example, for outputting a user command (instruction) to the interactive robot 1 to such a pendant. If the command instruction button is operated, the corresponding infrared signal is transmitted from the infrared signal transmitter 2a of the infrared tag 2.

  In the present invention, the RF tag signal reading means 1a reads the information of the RF tag of the user (member) in the field around the robot (in a circle with a certain radius) by the radio wave from the RF antenna, and the electromagnetic wave reaches within the range. The person / direction identifying means 1d detects who is and how many are. As a result, the robot 1 identifies users around him and creates a member list. This detection operation by the partner / direction identification means 1d is executed at regular or indefinite intervals, and the member list is updated. Next, the partner / direction identifying unit 1d transmits a request command for existence confirmation from the infrared signal transmitting unit 1b to the user's infrared tag 2 in accordance with the created member list. Request command signals for each user are individually transmitted in time, and when the user's infrared tag 2 receives its own name, it responds by infrared that it exists. The direction (position) of the user is identified by identifying the direction in which the response is received by the infrared signal receiving means 1c.

  For a user who has been confirmed by infrared communication, that is, a user who can be seen from the dialog robot 1, the content / service suitable for the user is selected from the dialog / service content database 1 i by the dialog / service content selection means 1 h, It is reproduced by the dialogue / service content reproduction means 1f, and a voice or the like for dialogue is output to the user. A content service suitable for a user who has been confirmed to exist only with an RF tag (a user who is nearby but cannot be seen by a robot) is provided.

  Further, the dialogue robot 1 includes body direction driving means 1e for driving the face (head) or body direction, and is driven so that the face or the whole body is directed in the direction according to the detected user direction. can do. As a result, the robot can autonomously face the user. It should be noted that necessary contents can be downloaded from an external server (not shown) to the dialogue / service contents database 1i.

  In addition, by changing the radio wave reception sensitivity of the RF tag, the field range corresponding to the place (range that becomes a near field) can be changed statically and dynamically. In other words, the range of the venue is changed according to the location such as the private room or meeting place.

  Further, when the infrared tag 2 provided by the user is provided with the command button 2c for instructing the command, when the infrared signal representing the command is received by the infrared signal receiving means 1c, the command interpreting means 1g interprets the command, The dialogue / service content selection means 1h is selected according to the interpreted content.

  The dialogue / service performed for each user (member) by the dialogue / service content selection means 1h is stored in the dialogue / service content database 1i. The name of the other party, the topic preferred by the other party, music There are various services such as providing gestures and moving the neck and body (gestures).

  According to the present invention, in the user identification by using the infrared tag, in the case of multi-users, the identification of the user may be difficult due to infrared interference in the space. By using the RF tag system together, The users in the field can be narrowed down, and the request signal can be transmitted for each user at different times, so that the problem of error occurrence due to interference can be avoided. In addition, compared with a system using only an RF tag, there is an advantage that a function of knowing the position of the other party with sufficient resolution can be obtained. In addition to who is in front of the robot, on the side or behind, and who is facing the robot (that is, who is in the vicinity of the robot and is interested in the robot), and where is the user Therefore, it is possible to appropriately provide contents and services for those users. It is also possible to provide appropriate contents and services to those multiple users.

  That is, according to the present invention, in Patent Document 1, a user who is “near the robot but is not facing the front of the robot”, a user who is “near the robot and is facing the front of the robot”, and “ It was possible to recognize only three types of states of users who are not in the vicinity, but in addition, they were in the vicinity of the robot and not facing the front of the robot, but facing from other directions than the front (that is, interested in the robot The user is also likely to be interested)). Further, as a result, it becomes possible to identify a user who is “near the robot but has no interest in the robot at present”. This makes it possible to more precisely recognize the status of users in the vicinity of the robot (such as whether or not they are interested) compared to conventional robots. Therefore, it is possible to provide detailed content and services to each user accordingly. It becomes possible.

  FIG. 2 is a process flow for creating / updating a member list, which is executed in the partner / direction identifying means 1d in FIG. First, an ID (identification information) of members (users and other robots) existing around him (robot) is obtained by the RF tag signal reading device (corresponding to 1a in FIG. 1) (S1 in FIG. 2). Next, based on the obtained ID, a list of members around is created and held (S2). This list is stored in a memory (not shown) in the opponent / direction identifying means 1d. Next, the member list is read in order (S3 in FIG. 2), and it is determined whether the read member is the end of the list (S4). If it is the end, the old member list is replaced with the newly created member list (S9), step Return to S1. If it is not the last of the list in S4, a location confirmation signal for the member selected from the list is output from a plurality of infrared signal transmitting means (1b in FIG. 1) installed on the body (S5 in FIG. 2). Thereafter, it is determined whether there is a response by the infrared signal from the received signals of the plurality of infrared signal receiving means 1c (S6 in FIG. 2), and if there is a response, from the installation position on the body of the received infrared signal receiving means. The position of the member viewed from the robot is determined, and the position information is registered in the list (S7). If there is no response, the member position information is registered as unknown (?) (S8 in FIG. 2). After steps S7 and S8, the process returns to S3 and the process for the next member list is executed.

  FIG. 3 shows a processing flow in the infrared tag, which is attached to the front of the user's body (such as the torso), and includes an infrared signal transmitting means 1b (FIG. 1) and an infrared signal receiving means 1c. It has. It is determined whether the infrared tag has received an infrared signal (S1 in FIG. 3). If it has been received, it is determined whether it is a presence confirmation signal for itself (S2). That is, it is determined whether the inquiry is based on an infrared signal including its own ID. If it can be confirmed that it is a presence confirmation signal for the user, the presence notification signal of the user is transmitted from the infrared signal transmitting means (S3 in FIG. 3).

  FIG. 4 shows an example of identification of “field” members using RF tags. In FIG. Shows an example of the positional relationship between a member and a dialogue robot, b. Is a. The robot member list in the positional relationship is shown. a. 1, 1 is a dialogue robot, A to E are members (users) existing around the dialogue robot 1, 4 a is an obstacle in the field, 4 b is an RF tag communication range (for example, a circle with a radius of 2 m) And the range within which the RF tag signal reading means 1a included in the dialogue robot 1 can communicate is referred to as a “field”. By the operation of obtaining IDs of members existing around the robot by the RF tag signal reading device in step S1 of FIG. The member list shown in FIG. In this list, a. Since the user D shown in FIG. 5 is located outside the communication range of the RF tag signal reading means 1a and cannot be read, the ID of the member D cannot be obtained and is not stored in the member list.

  FIG. 5 is an explanatory view of member position grasping by the infrared signal receiving / transmitting unit. a. Indicates the reference of the face direction of the interactive robot 1, the upper direction is set to 0 °, this direction is used as a reference, the clockwise direction is the + direction, and the counterclockwise direction is the − direction. 4b by the infrared signal receiving / transmitting unit in steps S5 to S7 in FIG. Location confirmation signal transmission to each member of the member list shown in Fig. 1 (transmission of member IDs from a plurality of infrared signal receiving / transmitting units), and member position determination by receiving operation (in which direction infrared signal receiving / transmitting unit receives) Identification for each member) is executed in order for each member, and the position information of each member is registered in the list.

  Specifically, b. As shown in FIG. 5, first, the dialogue robot 1 sends a confirmation “Is Mr. A?” To the first member A in the list. At this time, the ID is set in the portion “A”. When member A who has received this message sends a reply “I'm coming” from the infrared signal transmission unit to the dialogue robot 1 by infrared rays, the + 45 ° of the plurality of infrared signal reception / transmission units provided in the dialogue robot 1 is transmitted. The infrared signal (reply) transmitted from the member A is detected by the infrared signal receiving / transmitting unit attached in the direction. Thereafter, the same processing is performed for members B to E. Among them, the position of the member E cannot be detected because the obstacle 4a (FIG. 5) exists and the infrared rays are shielded.

  FIG. 6 is a member list after the member position is confirmed, and FIG. It is a list when each member (user) exists in the position as shown in FIG. The member list in FIG. 6 shows which member (member) 's ID (or name), each position (orientation), and the face (or torso) of the current interactive robot is facing. Information (represented by a circle mark). Note that which member the front (or torso) front of the dialogue robot 1 faces is determined by the reading of the rotation angle sensor at the neck of the dialogue robot 1 (the orientation of the head according to the angle coordinates of a in FIG. 5). Can be easily recognized by comparing each member position (angle value on the same coordinate). An example of the member list in FIG. Since “Member A” is in the position of “+ 45 °” and the reading value of the rotation angle sensor of the robot neck is also + 45 °, the face and members of the interactive robot are at the position of + 45 °. It can be recognized that A faces the front.

  FIG. 7 is a processing flow of the dialog / service content selection means. First, the latest member list created / updated in the member list creation / update process flow of FIG. 2 is read (S1 in FIG. 7), and it is determined whether the member list is empty (S2). An empty member list indicates that there is no user or robot around the robot (the existence is not recognized). If it is empty, the process returns to step S1, and if it is not empty, the current swing angle of the robot is read (S3). Here, it is checked which direction the robot is looking at, and it is determined which person (robot) on the member list is to interact (interact) (S4 in FIG. 7). The decision method is as follows: (1) Use the neck orientation checked in step S3 above to select the opponent closest to the direction the robot is facing. (2) Point to the robot other than (1). How to select a partner (select from those that can be detected with an infrared tag), (3) Partners that cannot be confirmed with an infrared tag (can only be confirmed with an RF tag, ie, not facing the robot, or There is a way to select a partner who is hiding behind something.

  In this way, when the selected partner is (1) or (2), the face is directed toward the partner and the face is directed there (S5 in FIG. 7). In the case of (3), the location of the other party is unknown, so keep the current face orientation, or turn the face to the default face orientation such as the front of the robot, For example, “Mr. XX, where are you?” May be said.

  Next, a content suitable for the selected partner is selected, and a dialog with the partner is performed (S6 in FIG. 7), and it is determined whether or not the dialog with the partner is to be terminated (S7). If it is determined that the process is completed, it is checked whether the member list is newly updated (S8 in FIG. 7). If updated, the new member list is read (S1). The process proceeds to S3, and the dialogue process with the next partner is executed using the member list that is currently held.

  In the case of (3), the location of the other party is unknown, so keep the current face direction, or turn the face to the default face direction such as the front of the robot, For example, “Mr. XX, where are you?” May be used (corresponding to claim 5). For example, in the conventional method of knowing which member is in the vicinity only by RFID, it can be known that it exists in the vicinity, but it is not known where it is, where it is visible, or whether it is facing the direction of the robot . In the present invention, since it can be distinguished, it is possible to identify a member that is not facing the direction of the robot or a member that is in the shadow of an obstacle while knowing that it exists in the vicinity. It is possible to perform appropriate behavior for such opponents and situations.

  FIG. 8 is a processing flow corresponding to the member change in FIG. This flow is executed between steps S2 and S3 in FIG. If the member list is not empty in step S2 in FIG. 7 above, it is determined whether there is a difference between the constituent members in the old member list and the current member list (S20 in FIG. 8). If it has changed, the content service for the newly added member is downloaded from the server to the robot storage device (S21). Since the content for the same member as the previous one is already stored in the storage device in the robot, it is maintained and used as it is. Although not shown in FIG. 8, if the member disappears (decreases), the content for the lost member is retained within the capacity of the storage device in the robot, and the user again. Can be saved from the server when it is added to the member list.

  In this way, when the presence (user or robot) around the robot leaves the place (that is, another user or robot whose existence is confirmed only with the RF tag), as necessary It is possible to provide content and services suitable for the existence.

  FIG. 9 is an explanatory diagram of an example in which the present invention is applied to an elderly facility. FIG. 9 shows daily scenes such as a geriatric hospital, a nursing home cafeteria, a dining room, and the like. In the figure, 1 is an interactive robot, 4b is a communication range of the system using an RF tag, 5-1 and 5-2 are dining tables, and users (old people) A to D sit on one dining table 5-1. The dialogue robot 1 is interacting with the dialogue content. Since the elderly person (user) E is sitting at another dining table 5-2 and is not facing the robot, the presence can be confirmed with the RF tag, but it is not clear where he is.

  In such a situation, the old man E may feel alienated. Since the dialogue robot 1 knows the existence of the old man E, it becomes possible to call out “Would you like to sing a song together with E” if necessary. In addition, it is possible to encourage communication between old people by calling out to any of the old people A to D, such as “invite Mr. E”.

  In this way, content and services suitable for the presence of other users (robots) who are known to exist around the dialog robot but are not known in the direction are provided as necessary. can do.

  (Supplementary note 1) In a dialogue robot that provides dialogue and services to each of a plurality of users (members) equipped with an infrared tag comprising an RF tag, an infrared receiver and an infrared transmitter for automatic recognition by radio signals , RF tag signal reading means for reading the RF tag worn by the user around and detecting each identification information (ID), and a plurality of directions directed in each direction around the entire body of the body such as the body of the interactive robot Infrared signal transmission / reception means is provided, and the RF tag signal reading means detects user identification information existing in a fixed area around it to create a member list. Based on the member list, each infrared ray in the plurality of directions is provided. An infrared signal is transmitted based on the identification information from the signal transmitter / receiver, and the infrared signal from the infrared tag of the member having the corresponding identification information is transmitted. Body direction driving means is provided to detect the direction of the member by detecting which infrared signal is transmitted / received by the infrared signal to detect the direction of the member, and to face the body or body in the direction of the identified partner An interactive robot system characterized by driving means, selecting dialogue / service contents according to the partner, and performing dialogue / service for that partner.

  (Supplementary Note 2) In Supplementary Note 1, the partner / direction identifying means sets identification information (name and direction information) of the identified member in the member list, and the dialogue / service content selection means is selected from the member list. Selecting a member and driving the body direction driving means to rotate the face angle from the current face direction to the direction of the selected member in the member list, thereby executing a dialogue / service. Interactive robot system.

  (Supplementary Note 3) In Supplementary Note 1, the dialog / service content selection means updates the member list by the RF tag signal reading means at a constant or indefinite period, and detects that the number of users has increased from the previous member list. And a dialogue robot system that downloads dialogue and service contents corresponding to the increased number of users from an external server.

  (Supplementary Note 4) In Supplementary Note 1, the partner / direction identification unit detects the presence of a user who is located within the electromagnetic wave reach by the RF tag signal reading unit but has an obstacle between the interactive robot and the user. The interactive robot system is characterized in that identification information is set in the member list, but the direction is set as unknown in the identification of the direction of the user by the infrared transmission / reception means.

  (Additional remark 5) In additional remark 1, with respect to the user who knows that the dialog / service content selection means exists in the vicinity by referring to the member list, but does not know the position (direction). A dialogue robot system that generates behavior suitable for the situation and reproduces the behavior by giving commands to the body direction drive means or the dialogue / service content reproduction means.

It is a figure which shows the principle structure of this invention. It is a figure which shows the processing flow of member list creation / update. It is a figure which shows the processing flow in an infrared tag. It is a figure of the example of the member identification of the "place" using RF tag. It is explanatory drawing of grasping | ascertaining of the member position by an infrared signal receiving / transmitting unit. It is a figure which shows the member list after member position confirmation. It is a figure which shows the processing flow of a dialog and service content selection means. It is a processing flow corresponding to the change of the member in FIG. It is explanatory drawing of the example which applied this invention to the elderly person facility. It is a figure which shows the basic composition of the robot of the Example by the proposed invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Dialogue robot 1a RF tag signal reading means 1b Infrared signal transmitting means 1c Infrared signal receiving means 1d Opponent / direction identification means 1e Body direction driving means 1f Dialogue / service content reproduction means 1g Command interpretation means 1h Dialogue / service content selection means 1i Dialogue・ Service contents DB (database)
2 Infrared tag 2a Infrared transmitter 2b Infrared receiver 3 RF tag

Claims (4)

In a dialogue robot that provides dialogue and services to each of a plurality of users (members) equipped with an infrared tag composed of an RF tag, an infrared receiver and an infrared transmitter for automatic recognition by radio signals,
RF tag signal reading means for detecting the identification information (ID) by reading an RF tag worn by a user existing in the surrounding area, and a plurality of infrared rays directed in each direction around the entire body of the body such as the body of the interactive robot Provide signal transmission / reception means,
A member list is created by detecting user identification information existing in a certain surrounding area by the RF tag signal reading means, and the identification information from the transmitter / receiver of each infrared signal in the plurality of directions is created based on the member list. The other party who identifies the direction of the member by transmitting the infrared signal based on the detected infrared signal from the infrared tag of the member having the corresponding identification information and detecting by which means the infrared signal transmission / reception means is received. With direction identification means,
A dialogue characterized in that the body direction driving means is driven so that the face or body is directed toward the identified partner, the dialogue / service content corresponding to the partner is selected, and the dialogue / service is performed on the partner. Robot system. In claim 1,
The partner / direction identification means sets identification information (name and direction information) of the identified member in the member list,
The dialogue / service content selecting means selects one member from the member list, and turns the body direction driving means to rotate the face angle from the current face direction toward the selected member direction of the member list. A dialogue robot system that is driven to execute dialogues and services. In claim 1,
The dialog / service content selection means updates the member list by the RF tag signal reading means at a constant or indefinite period, and when it is detected that the number of users has increased from the previous member list, the user / user can respond to the increased number of users. A dialogue robot system that downloads dialogue and service contents from an external server. In claim 1,
By referring to the member list, the dialog / service content selection means generates a behavior suitable for the situation for a user who is known to exist in the vicinity but whose location (direction) is unknown. A dialogue robot system which reproduces the behavior by giving a command to the body direction driving means or the dialogue / service content reproduction means.

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